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mjlab Documentation

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Version

User Guide

Installation Guide
Tutorials
Contributing

Concepts

Architecture Overview
Entity
- Entity Data
Actuators
Sensors
- RayCast Sensor
- RGB-D Camera
Scene
Terrain

The Manager Layer

Environment Configuration
Observations
Actions
Rewards
Terminations
Commands
Events
Domain Randomization
Curriculum
Metrics

Training & Debugging

Training with RSL-RL
Viewers
Distributed Training
Cloud Training
NaN Guard

API Reference

API Reference

Further Reading

Why mjlab?
Migrating from Isaac Lab
FAQ & Troubleshooting
Research
Changelog

Repository
Open issue

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By The mjlab Developers

© Copyright 2025, The mjlab Developers.

Last updated on Feb 28, 2026.